# An Efficient Iterated EKF-Based Direct Visual-Inertial Odometry for MAVs Using a Single Plane Primitive

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 10× · AI/ML

**Wikidata**: [openalex:W3114965097](https://www.wikidata.org/wiki/openalex:W3114965097)  
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